DigiFlex® Performance™ Servo Drive

Description The DigiFlex® Performance™ (DP) Series digital servo drives are designed to drive brushed and brushless servomotors. These fully digital drives operate in torque, velocity, or position mode and employ Space Vector Modulation (SVM), which results in higher bus voltage utilization and reduced heat dissipation compared to traditional PWM. The command source can be generated internally or can be supplied externally. In addition to motor control, these drives feature dedicated and programmable digital and analog inputs and outputs to enhance interfacing with external controllers and devices. This DP Series drive features a single RS-232/RS-485 interface used for drive configuration and setup. Drive commissioning is accomplished using DriveWare, available at www.a-m-c.com. All drive and motor parameters are stored in nonvolatile memory. Peak Current Continuous Current Supply Voltage Power Range

DPRNLIE-060A400

60 A (42.4 ARMS) 30 A (21.2 ARMS) 100 - 240 VAC

Features PIDF Velocity Loop PID + FF Position Loop Compact Size, High Power Density 16-bit Analog to Digital Hardware Built-in brake/shunt regulator Internal brake/shunt resistor

Four Quadrant Regenerative Operation Space Vector Modulation (SVM) Technology Fully Digital State-of-the-art Design Programmable Gain Settings Fully Configurable Current, Voltage, Velocity and Position Limits

MODES OF OPERATION Current Position Velocity Hall Velocity COMMAND SOURCE PWM and Direction Encoder Following Over the Network 5V Step and Direction FEEDBACK SUPPORTED Halls Incremental Encoder ±10 VDC Position Auxiliary Incremental Encoder Tachometer (±10 VDC) Sold & Serviced By:

INPUTS/OUTPUTS 3 Programmable 5 Programmable 5 Programmable 4 Programmable

Analog Inputs (12-bit Resolution) Digital Inputs (Differential) Digital Inputs (Single-Ended) Digital Outputs (Single-Ended)

COMPLIANCES & AGENCY APPROVALS UL cUL CE Class A (LVD) CE Class A (EMC) RoHS

Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com

DigiFlex® Performance™ Servo Drive BLOCK DIAGRAM

DPRNLIE-060A400

CONTROL MODULE
+5V 3.75K PDI-1,2,3,5,7 10k +5V +5V 5k +5V 10k 10k I/O Interface 2.5k PDO-1,2,3,4 OUTPUT COMMON Drive Logic Motor Feedback Motor Feedback INPUT COMMON PDI-4,6,8,9,10 + (PWM+ / STEP+ / DIR+ / AUX ENC A,B,I + / CAP-A,B,C+) PDI-4,6,8,9,10 – (PWM– / STEP– / DIR– / AUX ENC A,B,I – / CAP-A,B,C–) OUTPUT PULL-UP 20k 20k +5V 5k +5V 10k MOT ENC A,B,I – 10k ENC A,B,I + OUT ENC A,B,I – OUT MOT ENC A,B,I + HALL A,B,C – HALL A,B,C +

PAI-3 + PA-3 –

20k

I/O Interface

20k

20k

POWER MODULE
MOTOR A Power Stage MOTOR B MOTOR C DC+ DCFuse L1 L2 L3 DC+ INT 10 (200W) EXT LOGIC+ Logic Power LOGIC–

PAI-1,2 SGN GND

PAI-1: 33k PAI-2: 500k

SELECT TX/TX– RX/RX– TX+ RX+ ISO GND RS232/485 Interface

Fuse Fuse Fuse Shunt Reg.

Information on Approvals and Compliances US and Canadian safety compliance with UL 508c, the industrial standard for power conversion electronics. UL registered under file number E140173. Note that machine components compliant with UL are considered UL registered as opposed to UL listed as would be the case for commercial products. Compliant with European CE for both the Class A EMC Directive 89/336/EEC on Electromagnetic Compatibility (specifically EN 61000-6-4:2001, EN 61000-6-2:2001, EN 61000-3-2:2000, and EN 61000-3-3:1995/A1:2001) and LVD requirements of directive 73/23/EEC (specifically EN 60204-1), a low voltage directive to protect users from electrical shock. RoHS (Reduction of Hazardous Substances) is intended to prevent hazardous substances such as lead from being manufactured in electrical and electronic equipment.
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Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com

DigiFlex® Performance™ Servo Drive SPECIFICATIONS
Description
Rated Voltage AC Supply Voltage Range AC Supply Minimum AC Supply Maximum AC Input Phases1 AC Supply Frequency DC Supply Voltage Range2 DC Bus Over Voltage Limit DC Bus Under Voltage Limit Logic Supply Voltage Maximum Peak Output Current Maximum Continuous Output Current Max. Continuous Output Power @ Rated Voltage3 Max. Continuous Power Dissipation @ Rated Voltage Internal Bus Capacitance External Shunt Resistor Minimum Resistance Minimum Load Inductance (Line-To-Line)4 Switching Frequency Maximum Output PWM Duty Cycle Internal Shunt Fuse Rating AC Line Fuse Rating Low Voltage Supply Outputs

DPRNLIE-060A400

Power Specifications Units
VAC (VDC) VAC VAC VAC Hz VDC VDC VDC VDC A (Arms) A (Arms) W W µF Ω µH kHz % A A 240 (339) 100 - 240 90 264 3 50 - 60 127 - 373 429 55 20 - 30 (@ 850 mA maximum) 60 (42.4) 30 (21.2) 6840 360 1650 10 600 20 100 5 A time-felay fuse 20 A fast-acting fuses +5 VDC (250 mA)

Value

Description
Communication Interfaces Command Sources Feedback Supported Commutation Methods Modes of Operation Motors Supported Hardware Protection Programmable Digital Inputs/Outputs (PDIs/PDOs) Programmable Analog Inputs/Outputs (PAIs/PAOs) Primary I/O Logic Level Current Loop Sample Time Velocity Loop Sample Time Position Loop Sample Time Maximum Encoder Frequency Internal Shunt Regulator Internal Shunt Resistor

Control Specifications Units
μs μs μs MHz RS-485/232

Value

5V Step and Direction, Encoder Following, Over the Network, PWM and Direction ±10 VDC Position, Auxiliary Incremental Encoder, Halls, Incremental Encoder, Tachometer (±10 VDC) Sinusoidal, Trapezoidal Current, Hall Velocity, Position, Velocity Closed Loop Vector, Single Phase (Brushed, Voice Coil, Inductive Load), Three Phase (Brushless) 40+ Configurable Functions, Over Current, Over Temperature (Drive & Motor), Over Voltage, Short Circuit (Phase-Phase & Phase-Ground), Under Voltage 10/4 3/0 24 VDC 50 100 100 20 (5 pre-quadrature) Yes Yes

Description
Agency Approvals Size (H x W x D) Weight Heatsink (Base) Temperature Range5 Storage Temperature Range Cooling System Form Factor IP Rating +24V LOGIC Connector AUX ENCODER Connector COMM Connector DC BUS / BRAKE RESISTOR Connector FEEDBACK Connector I/O Connector MOTOR POWER / DC BUS Connector
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Mechanical Specifications Units
mm (in) g (oz) °C (°F) °C (°F) 234.7 x 161.8 x 151.3 (9.2 x 6.4 x 6) 4493 (158.5) 0 - 65 (32 - 149) -40 - 85 (-40 - 185) Natural Convection Panel Mount IP10

Value

CE Class A (EMC), CE Class A (LVD), cUL, RoHS, UL

2-port, 5.08 mm spaced, enclosed, friction lock header with threaded flange 15-pin, high-density, male D-sub 9-pin, female D-sub 5-contact, 13 mm spaced, dual-barrier terminal block 15-pin, high-density, female D-sub 26-pin, high-density, female D-sub 5-contact, 13 mm spaced, dual-barrier terminal block 5-contact, 13 mm spaced, dual-barrier terminal block

POWER Connector Notes

Toll Free 1. Phone: Can operate on single-phase VAC if peak/cont. current ratings are reduced by at least 30%. 877-378-0240 2. Large inrush current may occur upon initial DC supply connection to DC Bus. Toll Free Fax: 877-378-0249 sales@servo2go.com Rated Voltage) * (Cont. RMS Current) * 0.95. 3. P = (DC www.servo2go.cominductance is acceptable for bus voltages well below maximum. Use external inductance to meet requirements. 4. Lower

5.

Additional cooling and/or heatsink may be required to achieve rated performance.

DigiFlex® Performance™ Servo Drive PIN FUNCTIONS
+24V LOGIC - Logic Power Connector Pin
1 2 LOGIC GND LOGIC PWR

DPRNLIE-060A400

Name
Logic Supply Ground Logic Supply Input

Description / Notes

I/O
GND I

AUX ENCODER - Auxiliary Feedback Connector Pin
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

Name
RESERVED RESERVED RESERVED PDI-8 + (PWM+ / AUX ENC A+ / CAP-B+) PDI-8 - (PWM- / AUX ENC A- / CAP-B-) PDI-9 + (DIR+ / AUX ENC B+ / CAP-C+) PDI-9 - (DIR- / AUX ENC B- / CAP-C-) PDI-10 + (AUX ENC I+ / CAP-A+) PDI-10 - (AUX ENC I- / CAP-A-) SGN GND SGN GND SGN GND +5V OUT PAI-3 + PAI-3 -

Description / Notes
Reserved Reserved Reserved Programmable Digital Input or PWM or Auxiliary Encoder or High Speed Capture (For Single-Ended Signals Leave Negative Terminal Open) Programmable Digital Input or Direction Input or Auxiliary Encoder or High Speed Capture (For Single-Ended Signals Leave Negative Terminal Open) Programmable Digital Input or Auxiliary Encoder or High Speed Capture (For Single-Ended Signals Leave Negative Terminal Open) Signal Ground Signal Ground Signal Ground +5V Encoder Supply Output (Short Circuit Protected) Differential Programmable Analog Input (12-bit Resolution)

I/O
I I I I I I SGND SGND SGND O I I

COMM - RS232/RS485 Communication Connector Pin
1 2 3 4 5 6 7 8 9

Name
SELECT RS232 TX / RS485 TXRS232 RX / RS485 RXRESERVED ISO GND RS485 TX+ RESERVED RS485 RX+ RESERVED

Description / Notes
RS232/485 selection. Pull to ground (CN1-5) for RS485. Transmit Line (RS-232 or RS-485) Receive Line (RS-232 or RS-485) Reserved Isolated Signal Ground Transmit Line (RS-485) Reserved Receive Line (RS-485) Reserved

I/O
I O I IGND O I -

DC BUS / BRAKE RESISTOR - Power Connector Pin
1 2 3 4 5 HIGH VOLTAGE POWER GND EXT DC+ INT

Name
DC Bus Output

Description / Notes

I/O
O PGND O -

External Brake Resistor Connection. Brake Resistor DC+. Connection for brake resistor. Internal Brake Resistor. Jumper to Brake Resistor DC+ to activate.

FEEDBACK - Feedback Connector Pin
1 HALL A+ 2 HALL B+ 3 HALL C+ 4 MOT ENC A+ 5 MOT ENC A6 MOT ENC B+ 7 MOT ENC B8 MOT ENC I+ 9 MOT ENC I10 HALL A11 HALL BSold & Serviced By: 12 SGN GND 13 +5V OUT 14 PAI-2 Toll Free Phone: 877-378-0240C15 HALL
Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com

Name
Commutation Sensor Inputs

Description / Notes

I/O
I I I I I I I I I I I SGND O I I

Differential Encoder A Channel Input (For Single Ended Signals Use Only The Positive Input) Differential Encoder B Channel Input (For Single Ended Signals Use Only The Positive Input) Differential Encoder Index Input (For Single Ended Signals Use Only The Positive Input) Commutation Sensor Input (For Differential Signals Only) Commutation Sensor Input (For Differential Signals Only) Signal Ground +5V Encoder Supply Output (Short Circuit Protected) Programmable Analog Input (12-bit Resolution) Commutation Sensor Input (For Differential Signals Only)

DigiFlex® Performance™ Servo Drive
I/O - Signal Connector Pin
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26

DPRNLIE-060A400

Name
PDO-1 OUTPUT COMMON PDO-2 PDI-4 - (STEP-) PDI-6 - (DIR-) PAI-1 SGN GND OUTPUT PULL-UP PDI-5 PDO-3 PDI-1 PDI-2 PDI-3 PDO-4 INPUT COMMON SGN GND PDI-4 + (STEP+) PDI-6 + (DIR+) PDI-7 ENC A+ OUT ENC A- OUT ENC B+ OUT ENC B- OUT ENC I+ OUT ENC I- OUT SGN GND

Description / Notes
Isolated Programmable Digital Output Digital Output Common Isolated Programmable Digital Output Programmable Digital Input or Step- (For Differential Signals Only) Programmable Digital Input or Direction- (For Differential Signals Only) Programmable Analog Input (12-bit Resolution) Signal Ground Digital Output Pull-Up For User Outputs Isolated Programmable Digital Input Isolated Programmable Digital Output Isolated Programmable Digital Input Isolated Programmable Digital Input Isolated Programmable Digital Input Isolated Programmable Digital Output Digital Input Common (Can Be Used To Pull-Up Digital Inputs) Signal Ground Programmable Digital Input or Step+ Programmable Digital Input or Direction+ Isolated Programmable Digital Input Buffered Encoder Channel A Output Buffered Encoder Channel B Output Buffered Encoder Index Output Signal Ground

I/O
O OGND O I I I SGND I I O I I I O IGND SGND I I I O O O O O O SGND

MOTOR POWER / DC BUS - Power Connector Pin
1 2 3 4 5 MOTOR A MOTOR B MOTOR C POWER GND HIGH VOLTAGE

Name

Description / Notes
Motor Phase A Motor Phase B Motor Phase C Power Ground (Isolated From Signal Ground) DC Power Input

I/O
O O O PGND I

POWER - Power Connector Pin
1 2 3 4 5 L1 L2 L3 CASE GND RESERVED

Name
AC Supply Input (Three Phase) Case Ground Reserved

Description / Notes

I/O
I I I PE -

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DigiFlex® Performance™ Servo Drive HARDWARE SETTINGS
Switch Functions Switch 1 2 3 4 5 6 7 8 Description Bit 0 of binary RS-485 drive address. Does not affect RS-232 settings. Bit 1 of binary RS-485 drive address. Does not affect RS-232 settings. Bit 2 of binary RS-485 drive address. Does not affect RS-232 settings. Bit 3 of binary RS-485 drive address. Does not affect RS-232 settings. Bit 4 of binary RS-485 drive address. Does not affect RS-232 settings. Bit 5 of binary RS-485 drive address. Does not affect RS-232 settings. Bit 0 of drive RS-485 baud rate setting. Does not affect RS-232 settings. Bit 1 of drive RS-485 baud rate setting. Does not affect RS-232 settings.

DPRNLIE-060A400

Setting On 1 1 1 1 1 1 1 1 Off 0 0 0 0 0 0 0 0

Additional Details The drive can be configured to use the address and/or bit rate stored in non-volatile memory by setting the address and/or bit rate value to 0. Use the table below to map actual bit rates to a bit rate setting. Baud Rate (kbps) Load from non-volatile memory 9.6 38.4 115.2 Value For Bit Rate Setting 0 1 2 3

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Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com

DigiFlex® Performance™ Servo Drive MECHANICAL INFORMATION
+24V LOGIC - Logic Power Connector Connector Information Mating Connector Details Included with Drive

DPRNLIE-060A400

2-port, 5.08 mm spaced, enclosed, friction lock header with threaded flange Phoenix Contact: P/N 1777808 Yes

2

1 LOGIC GND LOGIC PWR

AUX ENCODER - Auxiliary Feedback Connector Connector Information Mating Connector Details Included with Drive 15-pin, high-density, male D-sub TYCO: Plug P/N 1658681-1; Housing P/N 5748677-2; Terminals P/N 1658686-2 (loose) or 1658686-1 (strip) No

SGN GND 10 PDI-10 - (AUX ENC I- / CAP-A-) 9 PDI-10 + (AUX ENC I+ / CAP-A+) 8 PDI-9 - (DIR- / AUX ENC B- / CAP-C-) 7 PDI-9 + (DIR+ / AUX ENC B+ / CAP-C+) 6

4 5

PDI-8 + (PWM+ / AUX ENC A+ / CAP-B+) PDI-8 - (PWM- / AUX ENC A- / CAP-B-)

15 PAI-3 14 PAI-3 + 13 +5V OUT 12 SGN GND 11 SGN GND

COMM - RS232/RS485 Communication Connector Connector Information Mating Connector Details Included with Drive 9-pin, female D-sub TYCO: Plug P/N 205204-4; Housing P/N 5748677-1; Terminals P/N 1658540-5 (loose) or 1658540-4 (strip) No
5 ISO GND 3 RS232 RX / RS485 RX2 RS232 TX / RS485 TX1 SELECT

6 8

RS485 TX+

RS485 RX+

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Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com

DigiFlex® Performance™ Servo Drive
DC BUS / BRAKE RESISTOR - Power Connector Connector Information Mating Connector Details Included with Drive
5

DPRNLIE-060A400

5-contact, 13 mm spaced, dual-barrier terminal block Not applicable Not applicable
INT 4 DC+ 3 EXT 2 POWER GND 1 HIGH VOLTAGE

FEEDBACK - Feedback Connector Connector Information Mating Connector Details Included with Drive 15-pin, high-density, female D-sub TYCO: Plug P/N 748364-1; Housing P/N 5748677-2; Terminals P/N 1658670-2 (loose) or 1658670-1 (strip) No
MOT ENC B+ 6 MOT ENC B- 7 MOT ENC I+ 8 MOT ENC I- 9 HALL A- 10 5 4 MOT ENC AMOT ENC A+ 3 HALL C+ 2 HALL B+ 1 HALL A+

11 HALL B12 SGN GND 13 +5V OUT 14 PAI-2 15 HALL C-

I/O - Signal Connector Connector Information Mating Connector Details Included with Drive 26-pin, high-density, female D-sub TYCO: Plug P/N 1658671-1; Housing P/N 5748677-3; Terminals P/N 1658670-2 (loose) or 1658670-1 (strip) No
9 8 PDI-5 OUTPUT PULL-UP SGN GND 6 PAI-1 5 PDI-6 - (DIR-) 4 PDI-4 - (STEP-) 3 PDO-2 2 OUTPUT COMMON 1 PDO-1

PDO-3 10 PDI-1 11 PDI-2 12 PDI-3 13 PDO-4 14 INPUT COMMON 15 SGN GND 16 PDI-4 + (STEP+) 17 PDI-6 + (DIR+) 18

7

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19 PDI-7 20 ENC A+ OUT 21 ENC A- OUT 22 ENC B+ OUT 23 ENC B- OUT 24 ENC I+ OUT 25 ENC I- OUT 26 SGN GND

DigiFlex® Performance™ Servo Drive
MOTOR POWER / DC BUS - Power Connector Connector Information Mating Connector Details Included with Drive
5

DPRNLIE-060A400

5-contact, 13 mm spaced, dual-barrier terminal block Not applicable Not applicable
HIGH VOLTAGE 4

POWER GND 3 MOTOR C 2 MOTOR B 1 MOTOR A

POWER - Power Connector Connector Information Mating Connector Details Included with Drive 5-contact, 13 mm spaced, dual-barrier terminal block Not applicable Not applicable
4 CASE GND 3 L3 2 L2 1 L1

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Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com

DigiFlex® Performance™ Servo Drive MOUNTING DIMENSIONS

DPRNLIE-060A400

Sold & Serviced By:

Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com

DigiFlex® Performance™ Servo Drive PART NUMBERING INFORMATION
Example:
Drive Series DP DigiFlex Performance

DPRNLIE-060A400

D P R

A N I

E

-

0 1 5 A 4 0 0

Customer Special Code used to identify customer specials Revision A through Z (letters may be skipped) Max DC Bus Voltage (VDC) 080 80 200 200 400 400 800 800 Power and Logic Supply AC Input A +24VDC User Logic Supply Required AC Input Only N No Logic Supply Required (Internal Supply) DC Input B Both Logic Supply Options (Internal or User) DC Input L Logic Supply Required DC Input Only D Internal Logic Supply Peak Current (A0 to Peak) 015 15 016 16 020 20 025 25 030 30 040 40 060 60 100 100

Communication R RS232/RS485 C CANopen or RS232 Q SynqNet Command Inputs Analog (±10V) AN No Step & Direction Analog (±10V) AL Low Voltage Step & Direction (5V) Analog (±10V) AH High Voltage Step & Direction (24V) No Analog NL Low Voltage Step & Direction (5V) No Analog, No Step & Direction NN (Communication Interface Only) Digital I/O I Isolated (24V) T TTL (5V) Non-Isolated Motor Feedback E Incremental Encoder and/or Halls R Resolver A Absolute Sin/Cos (Hiperface & Endat) S Sin/Cos with Halls

DigiFlex® Performance™ series of products are available in many configurations. All models listed in the selection tables of the website are readily available, standard product offerings. ADVANCED Motion Controls also has the capability to promptly develop and deliver specified products for OEMs with volume requests. Our Applications and Engineering Departments will work closely with your design team through all stages of development in order to provide the best servo drive solution for your system. Equipped with on-site manufacturing for quickturn customs capabilities, ADVANCED Motion Controls utilizes our years of engineering and manufacturing expertise to decrease your costs and time-to-market while increasing system quality and reliability. Feel free to contact Applications Engineering for further information and details. Examples of Customized Products Tailored Project File Silkscreen Branding Optimized Base Plate Increased Current Limits Increased Voltage Range Conformal Coating Multi-Axis Configurations Reduced Profile Size and Weight

Optimized Footprint Private Label Software OEM Specified Connectors No Outer Case Increased Current Resolution Increased Temperature Range Custom Control Interface Integrated System I/O

Available Accessories ADVANCED Motion Controls offers a variety of accessories designed to facilitate drive integration into a servo system. Visit www.a-m-c.com to see which accessories will assist with your application design and implementation.

Filter Cards
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To Motor

Drive(s)
Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com

All specifications in this document are subject to change without written notice. Actual product may differ from pictures provided in this document.